Augmented virtuality for model-based teleoperation

Vágvölgyi, Balázs; Niu, Wenlong; Chen, Zihan; Wilkening, Paul; Kazanzides, Peter

doi:10.1109/iros.2017.8206233

Cited by 20 publications

(12 citation statements)

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“…However, the pose of the endoscope is not exactly aligned with the human's eye, which can lead to a disassociation issue in the FA's perception [14]. The issue can be resolved by reconstructing a 3D model of the surgical scene, projecting the endoscopy onto this model, and then rendering it from the current viewpoint of the FA, as demonstrated by Edgcumbe et al [36] for an ex‐vivo kidney and in our recent work for satellite servicing [37]. Both involved a mostly static scene, leaving real‐time 3D reconstruction of the changing anatomy as a future challenge.…”

Section: Discussionmentioning

confidence: 99%

ARssist: augmented reality on a head‐mounted display for the first assistant in robotic surgery

Qian

Deguet

Kazanzides

2018

Healthcare Technology Letters

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In robot-assisted laparoscopic surgery, the first assistant (FA) is responsible for tasks such as robot docking, passing necessary materials, manipulating hand-held instruments, and helping with trocar planning and placement. The performance of the FA is critical for the outcome of the surgery. The authors introduce ARssist, an augmented reality application based on an optical see-through head-mounted display, to help the FA perform these tasks. ARssist offers (i) real-time three-dimensional rendering of the robotic instruments, hand-held instruments, and endoscope based on a hybrid tracking scheme and (ii) real-time stereo endoscopy that is configurable to suit the FA's hand–eye coordination when operating based on endoscopy feedback. ARssist has the potential to help the FA perform his/her task more efficiently, and hence improve the outcome of robot-assisted laparoscopic surgeries.

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Section: Discussionmentioning

confidence: 99%

ARssist: augmented reality on a head‐mounted display for the first assistant in robotic surgery

Qian

Deguet

Kazanzides

2018

Healthcare Technology Letters

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“…By using external controller or human body tracking, bimanual robot is easily controlled [383][384] [385]; this last one was presented in DARPA Robotics Chalenge [386] performing complex manipulation tasks. Moreover, it is possible to add real pictures features as texture of the virtual environment [387] and other feedback source in order to increase of realism, help to go out from the gaming effect and decrease the fatigue and stress while using VR [388]. [389] [390].…”

Section: Vero: Virtual Simulation Environments For Operator Trainingmentioning

confidence: 99%

A novel robotic framework for safe inspection and telemanipulation in hazardous and unstructured environments

Castro¹

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First of all, I would like to express my deep gratitude to my research university supervisor, Professor Manuel Ferre Pérez, for his patient guidance, enthusiastic encouragement and useful critiques of this thesis. An immense thankfulness goes to my research CERN supervisor, Doctor Alessandro Masi, who has believed in my potential and who has always supported me during the last years, being my mentor and my inspiration. Thanks to the unconditional support of Roberto Losito for the direction of the Engineering Department at CERN, that provides extraordinary opportunities and individual development to its scientists. I would like to express my great appreciation and deep respect to Professor Raúl Marín Prades for the support for writing of the thesis, help and profound discussions on teleoperation and robotic controls. Also, I would like to offer my special thanks to my colleagues of the Mechatronics, Robotics and Operation Section within the Survey, Mechatronics and Measurement Group at CERN for their inestimable help in the building-up of this work.

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“…The realism has increased in VR. Nowadays, it is possible to add real picture features as textures of the virtual environment [95]. It helps to decrease the fatigue and stress using the VR.…”

Section: Simulation Analysismentioning

confidence: 99%

Methods, strategies and application cases for robotic telemanipulation in hazardous environments

Chacón¹

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Augmented virtuality for model-based teleoperation

Cited by 20 publications

References 12 publications

ARssist: augmented reality on a head‐mounted display for the first assistant in robotic surgery

ARssist: augmented reality on a head‐mounted display for the first assistant in robotic surgery

A novel robotic framework for safe inspection and telemanipulation in hazardous and unstructured environments

Methods, strategies and application cases for robotic telemanipulation in hazardous environments

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